Harry and Meghan give baby Archie update as they surprise military families by dropping in for morning coffee

The previously unannounced visit to the Windsor's Broom Farm Community Centre was posted by the couple on their Instagram account, along with a short video highlights package of the morning.

"The Duke and Duchess surprised their neighbours in Windsor at a coffee morning for military families in a community centre located in the heart of the Army housing estate," the post said in a lengthy caption.

The Duke and Duchess of Sussex surprised their neighbours in Windsor at a coffee morning for military families (PA/AAP)Meghan Markle had a sweet moment with an adorable toddler as they had a "high five" moment. (PA/AAP)

"Their Royal Highnesses met with young families who shared their experiences as parents and as couples who are often apart from their loved ones for months at a time," the post noted, hinting at the couple's long-distance relationship and time apart due to Royal duties.

"A reminder that a life of service does not simply describe the person wearing the uniform, but the entire family."

LISTEN NOW: From 'Party Prince' to husband and father-to-be, The Windsors looks at the life of Prince Harry (post continues)

During the visit, the Royal couple also met with a number of kids as well, with one cutie in particular catching the 35-year-old dad's attention as he teased her with a cupcake.

Prince Harry was also pictured lifting up the little girl in a sweet moment.

"I can't imagine what it's like to miss so much – as they change so quickly," Harry said, according to ITV News.

One cutie in particular catching the 35-year-old dad's attention as he teased her with a cupcake (PA/AAP)Prince Harry was also pictured lifting up the little girl in a sweet moment (PA/AAP)

Meghan meanwhile had a sweet moment with an adorable toddler as they had a "high five" moment.

The 38-year-old also gave fellow mums an update on six-month-old son Archie.

"Archie just got two teeth - tiny ones right there," Meghan told the group, according to The Sun.

And the Duchess also indicated that her son is crawling, during a chat with Amy Thompson, the wife of a member of the Welsh Guards.

"My daughter Aeris is the same age as Archie and we talked about weaning and the children beginning to crawl - she's just a normal mum and it was like talking to a friend," she told the publication.

Meghan revealed Archie is now crawling and has two front teeth (PA/AAP)The Duke and Duchess of Sussex met with military families, aiming to highlight that the armed forces effect more than those in uniform (PA/AAP)

Prince Harry and Meghan Markle are set to make a number of public appearances this week as Remembrance Day commemorations take place.

"Every year during the month of November we pause to remember and honour all those who have served their country here in the UK, across the Commonwealth and around the world," The Sussex's said in their social media post.

"Their Royal Highnesses also wanted to show support for the families of service personnel who are currently deployed overseas."

The couple are making a number of appearances this week for Remembrance Day commemorations (PA/AAP)